CN106597472A - Intelligent vehicle collision avoidance system and method based on laser radar - Google Patents
Intelligent vehicle collision avoidance system and method based on laser radar Download PDFInfo
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- CN106597472A CN106597472A CN201611192201.1A CN201611192201A CN106597472A CN 106597472 A CN106597472 A CN 106597472A CN 201611192201 A CN201611192201 A CN 201611192201A CN 106597472 A CN106597472 A CN 106597472A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The present invention provides an intelligent vehicle collision avoidance system based on a laser radar and is applicable to the technical field of vehicles. The system comprises at least one laser radar which scans the position data of a surrounding environmental object, at least one intelligent vehicle which sends an area selection signal to the laser radar and receives the switching value signal transmitted by the laser radar as a control signal, and at least one collision avoidance module which analyzes the position data and transmits the switching value signal to the intelligent vehicle, wherein the intelligent vehicle, the laser radar and the collision avoidance module are in a communication connection. The invention provides an intelligent vehicle collision avoidance method based on a laser radar. Therefore, through using the laser radar to comprehensively detect whether a driving path has an obstacle, the assembly is simple, the system is convenient to use, the practicability of a product is improved, and the intelligent vehicle collision avoidance is achieved.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of intelligent vehicle CAS and side based on laser radar
Method.
Background technology
Existing intelligent vehicle is product intelligence of the newest scientific and technological achievement such as electronic computer in combination with modern automobile industry
Car is industrially applied also widely, is mainly used in unmanned carrying aspect.It is referred to as by people in the industry：Automatic guided vehicle or
AGV dollies, its automatic traction, self-navigation is participated in without the need for workman, enjoys manufacturer to pay close attention to.The full name of AGV is Automated
Guided Vehicles, be it is a kind of equipped with homing guidance device, can according to the guide path of regulation traveling, with programming and
The automatic navigation vehicle of parking selecting device, safety guard and various material transfer functions, detection of obstacles is intelligent vehicle
The premise of trouble free service.Mechanical contact is broadly divided into currently used for the safety anticollision system of intelligent vehicle (such as mechanical guard rail)
With contactless two kinds, it is contactless mainly to include the schemes such as infrared acquisition, ultrasonic wave, microwave, laser radar.Wherein laser thunder
Up to being a kind of best performance and protection scheme the safest, this patent combines TOF laser radars accurately detection scanning work(
Can, creatively laser radar is designed into intelligent vehicle anticollision module as the core sensor of intelligent vehicle collision prevention function, successfully should
For the safety traffic field of intelligent vehicle, so as to reduce the generation of traffic accident.
The TIM310 radars in German west gram be it is a be specifically applied to AGV Anticollision Radars, client can be according to the need of oneself
Will, in different application scenarios, different safety zones are set, AGV can be detected by vehicle-mounted radar and connect
Near object, when the distance of barrier and AGV is less than safe distance, the radar will export an on-off model, connect
Warning system, starts and slows down and brake system, support vehicles driving safety.
Existing intelligent vehicle anticollision product major part technology is also immature, or product application cost itself is higher, operation
It is more complicated, hence without being popularized.Wherein laser radar is used as current most reliable sensor, and price is sufficiently expensive, other
It is not high to there is precision in species sensor, and detection range and investigative range are limited, it is impossible to recognize the shortcoming of object, thus cannot obtain
Widely use.Domestic laser radar market development is not mature enough, up to the present all without ripe application scheme.
In summary, prior art there will naturally be in actual use inconvenience and defect, it is therefore necessary to being improved.
The content of the invention
For above-mentioned defect, it is an object of the invention to provide a kind of intelligent vehicle CAS based on laser radar,
Its object is to be detected comprehensively with laser radar and whether have on driving path barrier, assemble simple, easy to use, improve
The practicality of product, realizes intelligent vehicle anticollision..
To achieve these goals, the present invention provides a kind of intelligent vehicle CAS based on laser radar, including：
At least laser radar of the position data of one scan surrounding environment object；
An at least sending zone selection signal is to the laser radar and receives the switching value letter of laser radar transmission
Number as control signal intelligent vehicle；
At least one parses the position data and transmitting switch amount signal to the anticollision module of the intelligent vehicle；
Communicate to connect between the intelligent vehicle and the laser radar, the anticollision module.
According to the intelligent vehicle CAS based on laser radar of the present invention, the laser radar also includes：
The laser radar sensor of the position data of the barrier in one collection environment；
Anticollision module described in one, the laser radar sensor is connected to the anticollision module, the anticollision by serial ports
Module and the laser radar integrated setting；
According to the intelligent vehicle CAS based on laser radar of the present invention, the intelligent vehicle includes：
The one intelligent vehicle control module that the intelligent vehicle running status is controlled according to the on-off model；
One alarm module for carrying out avoidance warning to barrier according to the on-off model；The alarm module communication link
It is connected to the anticollision module；
The intelligent vehicle control module sends the regional choice signal to the laser radar.
According to the intelligent vehicle CAS based on laser radar of the present invention, the anticollision module also includes：
The one data processing submodule that the position data that the laser radar sensor is scanned is carried out preliminary treatment
Block；
One according to the alarm region submodule in the regional choice signal preset alarm region of the intelligent vehicle；
One according to the alarm region it is corresponding with the environmental information calculating control intelligent vehicle on-off model system
Analysis submodule；
The data processing submodule electrically connects the laser radar sensor, the data processing submodule by serial ports
Block, the alarm region submodule electrically connect the network analysis submodule.
According to the intelligent vehicle CAS based on laser radar of the present invention, the anticollision module also includes that at least one is defeated
The input port and at least one for entering the regional choice signal of the intelligent vehicle exports the on-off model to the defeated of the intelligent vehicle
Outlet.
The present invention provides a kind of intelligent vehicle avoiding collision based on laser radar, and methods described includes：
The position data of Laser Radar Scanning surrounding environment object；
Intelligent vehicle sending zone selection signal is to the laser radar；
The intelligent vehicle receives the on-off model of the laser radar transmission as control signal.
According to the intelligent vehicle avoiding collision based on laser radar of the present invention, institute's Laser Radar Scanning surrounding environment object
Position data the step of also include：
The position data of the barrier in collection environment；
Parse the laser radar data and transmitting switch amount signal is to the intelligent vehicle.
According to the intelligent vehicle avoiding collision based on laser radar of the present invention, the reception laser radar transmission
The step of on-off model is as control signal includes：
The position data of the barrier in collection environment；
Parse the position data and transmitting switch amount signal is to the intelligent vehicle.
According to the intelligent vehicle avoiding collision based on laser radar of the present invention, the reception laser radar transmission
The step of on-off model is as control signal includes：
The intelligent vehicle running status is controlled according to the on-off model；
Avoidance warning is carried out to barrier according to the on-off model.
According to the intelligent vehicle avoiding collision based on laser radar of the present invention, the parsing position data is simultaneously transmitted
The step of on-off model is to the intelligent vehicle also includes：
The environmental information that the laser radar sensor is scanned is parsed；
It is input into the regional choice signal of the intelligent vehicle；
According to the regional choice signal preset alarm region of the intelligent vehicle；
Network analysis is carried out according to the alarm region and the environmental information；
The on-off model is exported to the intelligent vehicle.
According to the intelligent vehicle avoiding collision based on laser radar of the present invention, the parsing position data is simultaneously transmitted
The step of on-off model is to the intelligent vehicle also includes：
The different alarm region of the different regional choice signal generation of input, and according to barrier to the intelligent vehicle
Distance be provided with the first alarm threshold value, the second alarm threshold value and the 3rd alarm threshold value；
The on-off model is exported when the barrier of detection reaches the first alarm threshold value to the distance of the intelligent vehicle
Realize the first alarm；Or
The second alarm is exported when the barrier of detection reaches the second alarm threshold value to the distance of the intelligent vehicle；Or
The 3rd alarm is exported when the barrier of detection reaches three alarm threshold values to the distance of the intelligent vehicle.
The present invention by improvement after using laser radar as the core sensor of intelligent vehicle collision prevention function, can detect comprehensively
Whether there is barrier, assembling is simple, easy to use, improves the practicality of product on driving path.Laser radar is higher
Angular resolution and scan frequency, the Anticollision Radar can accurate detecting obstacles thing, user can as needed in finding range
Safe distance is set, and real-time detection routing information realizes intelligent vehicle anticollision.
Description of the drawings
Fig. 1 is structural representation of the present invention based on the intelligent vehicle CAS of laser radar；
Fig. 2 is laser radar structural representation of the present invention based on the preferred embodiment of the intelligent vehicle CAS of laser radar
Figure；
Fig. 3 is intelligent vehicle structural representation of the present invention based on the intelligent vehicle CAS preferred embodiment of laser radar；
Fig. 4 is intelligent vehicle avoiding collision schematic flow sheet of the present invention based on laser radar；
Fig. 5 is intelligent vehicle avoiding collision first embodiment schematic diagram of the present invention based on laser radar；
Fig. 6 is intelligent vehicle avoiding collision second embodiment schematic diagram of the present invention based on laser radar；
Fig. 7 A are one of the intelligent vehicle avoiding collision 3rd embodiment alarm region schematic diagram of the present invention based on laser radar；
Fig. 7 B are two of the present invention based on the intelligent vehicle avoiding collision 3rd embodiment alarm region schematic diagram of laser radar；
Fig. 7 C are three of the present invention based on the intelligent vehicle avoiding collision 3rd embodiment alarm region schematic diagram of laser radar；
Fig. 8 is intelligent vehicle schematic perspective view of the present invention based on the intelligent vehicle CAS of laser radar；
Fig. 9 is laser radar schematic perspective view of the present invention based on the intelligent vehicle CAS of laser radar.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
In order to solve the above problems, the present invention provides a kind of intelligent vehicle CAS 1000 based on laser radar, and this is
Unite by parts can be the software unit that is built in mobile terminal, hardware cell or software and hardware combining unit.With reference to figure
Show explanation, as shown in Fig. 1～Fig. 2, the intelligent vehicle CAS 1000 based on laser radar that the present invention is provided, including：
At least laser radar 100 of the position data of one scan surrounding environment object；
An at least sending zone selection signal is to the laser radar and receives the switching value letter of laser radar transmission
Number as control signal intelligent vehicle 200；
One parses the position data and transmitting switch amount signal to the anticollision module 20 of intelligent vehicle 200
Communicate to connect between the intelligent vehicle 200 and laser radar 100, anticollision module 20.
As shown in FIG. 1 to 3, more particularly, laser radar 100 mainly includes laser radar sensor 10 and anticollision mould
Two parts laser radar of block 20, as most crucial sensor, is the basis of whole system presence, the preferred laser thunder for adopting
Up to based on TOF (Time of Flight, flight time) principle, its precision is difficult by distance and illumination effect.Anticollision module master
It is used to parse radar data, alarm region, data processing and transmission alarm signal is set.
The preferably described intelligent vehicle CAS based on laser radar, the laser radar also includes：
The laser radar sensor 10 of the position data of the barrier in one collection environment；
Preferably also include anticollision module 20, laser radar sensor 100 is connected to anticollision module 20, prevents by serial ports
Module 20 and the integrated setting of laser radar 100 are hit, integrating can easily transform existing intelligent vehicle 200 and fit together
With；
For the barrier in environment, position data includes barrier to the distance and bearing of laser radar, by positional number
According to the foundation at current time, relative to the coordinate system of laser radar, (coordinate system can be the relative coordinate based on laser radar
System), each barrier can be converted to according to distance and bearing and is described in a coordinate system, and barrier is relative to path
Between relation can further by coordinate system calculate, the barrier not gathered in the same time can by correspondingly conversion realize
The slitless connection of data.
Meanwhile, further, based on the intelligent vehicle CAS 1000 of laser radar, intelligent vehicle 200 includes：
The one intelligent vehicle control module 210 that the intelligent vehicle running status is controlled according to the on-off model；
One alarm module 220 for carrying out avoidance warning to barrier according to the on-off model；Alarm module 220 communicates
It is connected to anticollision module 20.
Each device of the intelligent vehicle CAS 1000 based on laser radar provided by the present invention realizes anticollision, laser
Intelligent vehicle control module 210, alarm module 220 on radar sensor 100, intelligent vehicle 200 (is mainly controlled as warning system
Core processed is used) wherein：Laser radar sensor 10 can measure comprehensive two dimensional surface distance and bearing letter in the range of 200 meters
Breath, measurement frequency is high, and data update rate is fast, can accurately obtain the position coordinates of barrier, and according to actual needs, arranges peace
Region-wide (dividing safe class by distinguishing the distance of barrier, safety is pointed out in safety zone), is driving to remaining
Region arranges corresponding alarm so that user knows neighbouring safe condition, and in dangerous barrier default peace is occurred in
Alarm in full distance, by intelligent vehicle 200 avoidance is realized.2. intelligent vehicle control module 210 is mainly used to control intelligent vehicle 200
That is running status, running status includes turning to, speed and driving path；3. alarm module is mainly used to keep away barrier
Barrier is reported to the police.
Further, the intelligent vehicle CAS 1000 based on laser radar, the anticollision module 20 also includes：
One data processing that the position data that the laser radar sensor 10 is scanned is carried out preliminary treatment
Module 21；
One according to the alarm region submodule 22 in the regional choice signal preset alarm region of the intelligent vehicle 200；
One according to the alarm region it is corresponding with the environmental information output control intelligent vehicle on-off model system
Analysis submodule 23；
The data processing submodule 21 by serial ports electrically connect laser radar sensor 10, data processing submodule 21,
The electrical connection system of alarm region submodule 22 analyzes submodule 23.
Preferably, the anticollision module 20 also includes the input port of the regional choice signal of at least one input intelligent vehicle
24 and at least one output switch amount signal to the intelligent vehicle delivery outlet 25.
In the present embodiment, realize believing surrounding environment as the core sensor of the anticollision of intelligent vehicle 200 with laser radar 100
The detection scanning function of breath, laser radar sensor 100 can improve the practicality of laser radar navigation collision prevention function.Using laser
On the basis of radar is scanned to surrounding objects, place is analyzed to the surrounding environment of radar by data processing submodule 21
Reason, network analysis submodule 23 calculates the decision-making of specific reply barrier, and output switch amount signal, controls intelligent vehicle
200 alarm module 220 controls the traveling action of intelligent vehicle by intelligent vehicle control module 210.As shown in figure 9, being base
In the intelligent vehicle CAS 1000 of laser radar be applied to AGV (abbreviation of Automated Guided Vehicle, imply that "
Automatical pilot transportation vehicle ") dolly scene,
The anticollision module 20 includes four input ports 24, four delivery outlets 25, and input port 24 is mainly used to be input into intelligent vehicle
Regional choice signal, four tunnels input is used for selecting a kind of region from 15 kinds of regions, as input way increases, the switch of output
Amount combination is more, and it is more that arrange parameter is supported, the output of four tunnels includes, warning output, output of slowing down, brake output, failure
Output (hardware fault), alarm region submodule 22 can determine alarm region, specifically, be according to input area selection signal
System for example arranges according to transport condition and turns left, turns right, keeping straight on, and selects the region of different laser radars identifications, then to should area
Domain selects wherein the alarm region of three different range, the region selection parameter that intelligent vehicle control module 210 is issued to select anti-
Region is hit, and alarm region can also divide different grades, and according to default distinguishing rule safety of barrier etc. is treated
Level realizes corresponding alarm, carrys out disturbance in judgement thing whether in safe distance；Delivery outlet 25 is mainly used to output switch amount,
A dividing mode for whether having barrier, alarm region for judging alarm region passes through then as shown in Fig. 7 A～Fig. 7 C
On-off model control alarm module 220, intelligent vehicle control module 210.
Preferably, intelligent vehicle also includes camera and display screen, and the camera is electrically connected to the intelligent vehicle, described
The scene information of camera collection is presented on the display screen.
The alarm module is communicated to connect with the display screen, is electrically connected with the sound equipment of intelligent vehicle.
It is preferred that the laser radar 100 is TOF laser radars, and including single line and/or multi-thread；
The position data that arm processor processes laser radar is provided with the laser radar.The processor can also be replaced
It is changed to the chip processor of other frameworks.
Further, in order that intelligent vehicle avoiding collision of the present invention based on laser radar is illustrated and become apparent from, it is based on
Above realize that flow chart as shown in Figure 3, step includes based on the intelligent vehicle CAS 1000 of laser radar：
Step S401, the position data of Laser Radar Scanning surrounding environment object；
Step S402, intelligent vehicle sending zone selection signal is to the laser radar；
Step S403, the intelligent vehicle receives the on-off model of the laser radar transmission as control signal.
On the basis of being scanned to surrounding objects using laser radar, by week of the data processing submodule 21 to radar
Collarette border is analyzed process, and laser radar 100 determines the form of alarm region and defeated by the use of regional choice signal as reference
Go out correct on-off model control intelligent vehicle and make correct running status to change, such as setting area as shown in fig. 1, the area
Domain is adapted to be selected when turning left, and system can select a region to be identified management according to the selection of driving path acquiescence,
Anticollision parameter is correspondingly arranged, setting up procedure will not be described here, when such as anticollision regional choice is as shown in Figure 7 A, works as institute
When there is barrier in region, according to the anticollision parameter of the setting of user, analytical calculation, output is reported to the police, slows down, brake letter
Number, barrier is run in alarm region, then output stopping is turned left, halted or is turned right on correct path and gone.
In preferably one preferred first embodiment, as shown in figure 5, realizing alarm, the step is as follows：
Step S501, gathers the position data of the barrier in environment；This step is performed by laser radar sensor 10；
Step S502, intelligent vehicle sending zone selection signal is to the laser radar；This step is by intelligent vehicle 200 to laser
Radar 100 is transmitted, specifically sending zone selection signal is to described laser radar 100, the tool of regional choice signal
It is internal to hold by the digital output modul of intelligent vehicle 200, and switching value correspondence is arranged by user and transport condition is that foundation is produced, no
Same user arranges the different switching values of generation corresponding with transport condition, just causes the corresponding anticollision area of regional choice signal behavior
Domain；
Step S503, parses the position data and transmitting switch amount signal of the laser radar to the intelligent vehicle 200；This
One step is realized by anticollision module 20；
Step S504, according to the on-off model running status of intelligent vehicle 200 is controlled；This step is by intelligent vehicle control
Molding block 210 is realized；
Step S505, avoidance warning is carried out according to the on-off model to barrier；This step is real by alarm module 220
It is existing.
In intelligent vehicle avoiding collision one preferred second embodiment of the present invention based on laser radar, flow process is briefly
It is bright as shown in fig. 6, start laser radar after, implementation steps include：
Step S601, gathers the position data of the barrier in environment；This step is performed by laser radar sensor 10；
Step S602, according to the regional choice signal preset alarm region of the intelligent vehicle 200；This step is by anticollision module 20
Alarm region submodule 22 realize that different regional choice signal arranges the alarm region of different shape and scope, to realize
Precision detection, if to arrange identical coordinate range certainly, should arrange wider, to guarantee that target direction is enough
Region be detected.
Step S603, is input into the regional choice signal of the intelligent vehicle；This step is separate with step S601, by anti-
Hitting the input port 25 of module is carried out.
Step S602, by the position data that the laser radar sensor 10 is scanned preliminary treatment is carried out；This
Step is realized by data processing submodule 21；
Step S602, according to the alarm region and the environmental information network analysis is carried out；This step is by network analysis
Submodule 23 makes decisions；
Step S602, exports the on-off model to the intelligent vehicle；This step is transferred to intelligence by delivery outlet 25
Car 200；
The laser radar 100 mainly includes laser radar sensor 10, also anticollision module 20 can be integrated into peace
When dress, first car run, start anticollision laser radar, the scanning surrounding environment object of laser radar 100, laser radar sensor
10 are sent to data in anticollision module 20 by serial ports, and intelligent vehicle 200 can give 100 1 regional choices of laser radar when travelling
Signal, the alarm region submodule 22 in anticollision module 20 arranges alarm region according to direction signal, and gathers and parse sharp
Optical radar data, obtain barrier position coordinates, disturbance in judgement thing whether within anticollision region, the rear defence that the system decision-making goes out
Hit module 20 and export a switching value to the control system of intelligent vehicle 200, i.e., performed by intelligent vehicle control module 210, intelligent vehicle
200 judge to perform the action of intelligent vehicle 200 according to on-off model, to reach the purpose of anticollision.
In the present embodiment, it is preferably when alarm region is set in step S602：
The different alarm region of the different regional choice signal generation of input, and according to barrier to the intelligent vehicle
Distance be provided with first the second alarm threshold value of alarm threshold value and the 3rd alarm threshold value；
The on-off model reality is exported when the barrier of detection reaches the first alarm threshold value to the distance of intelligent vehicle 200
Existing first alarm, shows or phonic warning is arranged by the threshold value；Or
The second alarm, example are exported when the barrier of detection reaches the second alarm threshold value to the distance of intelligent vehicle 200
Deceleration such as to carrying out is reported to the police, and the warning coordinates intelligent vehicle control module 220 to export speed reducing switch amount to be carried out simultaneously；
Or
The 3rd alarm, example are exported when the barrier of detection reaches three alarm threshold values to the distance of intelligent vehicle 200
Brake such as to carrying out is reported to the police, and the warning coordinates intelligent vehicle control module 220 to export brake switch amount to be carried out simultaneously.
Specifically, the concrete reality of the process of intelligent vehicle obstacle avoidance system 1000 based on laser radar as shown in Fig. 7 A～Fig. 7 C
Apply example, alarm region arrange first-degree alert line, two grades of warning lines the first alarm threshold value corresponding with three-level warning line position, the
Two alarm threshold values, the 3rd alarm threshold value, while the warning line divides alarm region for Three Estate, when certain barrier position
Corresponding second alarm, its suggestion content and shape are issued by the interval of the distance of two grades of warning lines to first-degree alert line
Formula can be made by oneself, the voice message do not disturbed when grade is relatively low, send in the first-degree alert line closer to intelligent vehicle
First alarm, the display screen that can be arranged with combined with intelligent car and sound equipment, display screen points out corresponding warning message, sound equipment to send out
Go out the prompting of big volume, warning audio also targetedly optimizes.
Data handling procedure：As shown in Figure 8, Figure 9, the top set of the laser radar 100 is deployed in before the intelligent vehicle 100
Face, the region of the detection of anticollision module 20 and the path-dependent of the traveling of intelligent vehicle 200, in different paths, intelligent vehicle control end
Different region selection parameters can be issued, different anticollision regions are selected, for example, kept straight on, turn left, turned right.For different travelings
Direction, can form different detection zones.As shown in Fig. 7 A～Fig. 7 C, when intelligent vehicle is directly walked, one can be formed in front
Rectangle alarm region, is side airbag distance in the range of a mm of intelligent vehicle both sides, and front b1mm is first-degree alert line, front
Square b2mm is two grades of warning lines.Can be correspondence road when intelligent vehicle 200 selects region as shown in Figure 7 A as shown in Fig. 7 A, Fig. 7 C
Footpath is turned left or as seen in figure 7 c, path is for when turning right, meeting forms the alarm region of a parallelogram, these areas in front
The size and shape of domain figure is that host computer setting is drawn by user, i.e., system is big there is provided the shape and region given tacit consent to
Little, also limited area shape is not necessary for rectangle, to meet client according to actual need such as driving path, the sizes of oneself car
Ask, do not limit yet be in X, Y-coordinate system draw simple circle positioning, or other positioning forms, be again provided with
One or two three-level warning lines.Laser radar 100 is based on time-of-flight method, is obtained by the time difference for calculating modulation Laser emission and return
Further obtain measuring the range information of object to light path.Laser Radar Scanning to environmental information entered by data processing submodule 21
The corresponding preliminary treatment of row, by network analysis submodule 23 (analysis distance, angle, orientation letter are comprehensively analyzed and processed
Breath), thus the result that network analysis is obtained can turn through corresponding process output switch amount signal, the alarm module of intelligent vehicle
The alarm signal for changing into is realized reporting to the police, and intelligent vehicle 200 can also be according to the switching value judged barrier in analysis result
Signal, and respective reaction is made according to on-off model, it is ensured that the driving safety of intelligent vehicle 200.
Although the TOF laser radars adopted in above-described embodiment, what is taken is the sensor of 200m scopes, can be at it
Wider inner sensor is replaced with its embodiment, the detection of 360 degrees omnidirection environmental scanning is capable of achieving, can acquired disturbance thing essence
True positional information, including barrier, relative to the orientation of AGV, range information, laser radar can be replaced, wherein TOF
Laser radar can be single line or multi-thread, or with other type laser radars, such as the laser based on principle of triangulation
Radar, can replace in any combination, to realize same action effect.Installation site of the laser radar on intelligent vehicle also may be used
With the measurement effect for carrying out appropriate adjustment to reach same.Intelligent vehicle can also add camera, allow the scene information to be in truly
Now on a display screen, in combination with the cloud data of lidar measurement, the orientation of barrier thus can truly be demarcated
With range information.Other friendships can be applied on the basis of the intelligent vehicle CAS based on laser radar that the present invention is provided
On logical instrument, such as the train of operation, the aircraft of airflight also have ship on rail.
In sum, the present invention by using laser radar as intelligent vehicle collision prevention function core sensor, can be comprehensive
Whether there is barrier, assembling is simple, easy to use, improves the practicality of product on detection driving path.Laser radar compared with
High angular resolution and scan frequency, the Anticollision Radar can accurately detect the barrier in front, and user can exist as needed
Safe distance is set in finding range, and real-time detection routing information realizes intelligent vehicle anticollision, reduces laser radar use cost and opens
Product is sent out, the practical value of laser radar is improved.
Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence
Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (10)
1. a kind of intelligent vehicle CAS based on laser radar, it is characterised in that include：
At least laser radar of the position data of one scan surrounding environment object；
An at least sending zone selection signal is to the laser radar and receives the on-off model of laser radar transmission and makees
For the intelligent vehicle of control signal；
At least one parses the position data and transmitting switch amount signal to the anticollision module of the intelligent vehicle；
Communicate to connect between the intelligent vehicle and the laser radar, the anticollision module.
2. the intelligent vehicle CAS of laser radar is based on according to claim 1, it is characterised in that the laser radar is also
Including：
The laser radar sensor of the position data of the barrier in one collection environment；
Anticollision module described in one, the laser radar sensor is connected to the anticollision module, the anticollision module by serial ports
With the laser radar integrated setting.
3. the intelligent vehicle CAS of laser radar is based on according to claim 1, it is characterised in that the intelligent vehicle bag
Include：
The one intelligent vehicle control module that the intelligent vehicle running status is controlled according to the on-off model；
One alarm module for carrying out avoidance warning to barrier according to the on-off model；The alarm module is communicatively connected to
The anticollision module；
The intelligent vehicle control module sends the regional choice signal to the laser radar.
4. the intelligent vehicle CAS of laser radar is based on according to claim 1, it is characterised in that the anticollision module is also
Including：
The one data processing submodule that the position data that the laser radar sensor is scanned is carried out preliminary treatment；
One according to the alarm region submodule in the regional choice signal preset alarm region of the intelligent vehicle；
One according to the system of the on-off model of alarm region control corresponding with the environmental information calculating intelligent vehicle
Analysis submodule；
The data processing submodule electrically connects the laser radar sensor, the data processing submodule, institute by serial ports
State alarm region submodule and electrically connect the network analysis submodule.
5. the intelligent vehicle CAS of laser radar is based on according to claim 4, it is characterised in that the anticollision module is also
Input port and at least one output on-off model including the regional choice signal of at least one input intelligent vehicle is to institute
State the delivery outlet of intelligent vehicle.
6. a kind of intelligent vehicle avoiding collision based on laser radar, it is characterised in that methods described includes：
The position data of Laser Radar Scanning surrounding environment object；
Intelligent vehicle sending zone selection signal is to the laser radar；
The intelligent vehicle receives the on-off model of the laser radar transmission as control signal.
7. the intelligent vehicle avoiding collision of laser radar is based on according to claim 1, it is characterised in that institute's Laser Radar Scanning
The step of position data of surrounding environment object, also includes：
The position data of the barrier in collection environment；
Parse the position data and transmitting switch amount signal is to the intelligent vehicle.
8. the intelligent vehicle avoiding collision of laser radar is based on according to claim 6, it is characterised in that the reception is described to swash
The step of on-off model of optical radar transmission is as control signal includes：
The intelligent vehicle running status is controlled according to the on-off model；
Avoidance warning is carried out to barrier according to the on-off model.
9. the intelligent vehicle avoiding collision of laser radar is based on according to claim 6, it is characterised in that parsing institute rheme
Put data and transmitting switch amount signal to the intelligent vehicle the step of also include：
The environmental information that the laser radar sensor is scanned is parsed；
It is input into the regional choice signal of the intelligent vehicle；
According to the regional choice signal preset alarm region of the intelligent vehicle；
Network analysis is carried out according to the alarm region and the environmental information；
The on-off model is exported to the intelligent vehicle.
10. the intelligent vehicle avoiding collision of laser radar is based on according to claim 9, it is characterised in that described in the parsing
The step of position data and transmitting switch amount signal are to the intelligent vehicle also includes：
The different alarm region of the different regional choice signal generations of input, and according to barrier to the intelligent vehicle away from
From being provided with the first alarm threshold value, the second alarm threshold value and the 3rd alarm threshold value；
Export the on-off model when the barrier of detection reaches the first alarm threshold value to the distance of the intelligent vehicle to realize
First alarm；Or
The second alarm is exported when the barrier of detection reaches the second alarm threshold value to the distance of the intelligent vehicle；Or
The 3rd alarm is exported when the barrier of detection reaches three alarm threshold values to the distance of the intelligent vehicle.
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